Handling device for pharmaceutical production material, handling system with a handling device, and plant for processing pharmaceutical containers

Abstract

The present invention relates to a handling device (120) for pharmaceutical production material (116), comprising a supporting means (150), an articulation device (152) which comprises a first articulated arm portion (206) and a second articulated arm portion (208), at least one drive means (158) and a tool (268) for acting directly or indirectly on the production material (116), wherein the handling device (120) comprises a drive element (210) which can be driven about a first axis of rotation (218) and is connected to the first articulated arm portion (206) fixedly for conjoint rotation, wherein the first articulated arm portion (206) and the second articulated arm portion (208) are connected to one another rotatably relative to one another about a second axis of rotation (228), wherein the axes of rotation (218, 228) are arranged at a distance from one another, wherein the handling device (120) comprises a guide means (154), with a guide body (254), and a holding body (160) which comprises or forms the tool (268) or on which the tool (268) is held, wherein the second articulated arm portion (208) is rotatable relative to the holding body (160) about a third axis of rotation (252), which is arranged at a distance from the second axis of rotation (228), and at least one guide element (260), which interacts with the guide body (254), is arranged on the holding body (160). The invention also relates to a handling system (118) and to a plant (100) for processing pharmaceutical containers (102).

Description

[0001] HANDLING DEVICE FOR PHARMACEUTICAL PRODUCTION MATERIAL, HANDLING SYSTEM WITH A HANDLING DEVICE AND PLANT FOR PROCESSING PHARMACEUTICAL CONTAINERS

[0002] The present invention relates to a handling device for pharmaceutical production material, which comprises a tool for acting directly or indirectly on the production material.

[0003] Furthermore, the present invention relates to a handling system for pharmaceutical production material, comprising a frame which can be placed on a support surface and which comprises a separating element which separates a first zone from a second zone, and a handling device of the type described above.

[0004] Furthermore, the present invention relates to a system for processing pharmaceutical containers.

[0005] In such a system, incoming containers are weighed, filled with a product, weighed again, sealed, and then removed for further processing. Accordingly, the system can have multiple processing stations, for example, at least one weighing station, one filling station, one sealing station, one inspection station, and / or one packaging station. The containers can include, for example, vials, syringes, cartridges, or ampoules. They can be stable containers that can stand independently on a support element. Non-stable objects, which are held, for example, by means of pincer-like gripping elements, are also conceivable.

[0006] Containers as primary packaging are considered pharmaceutical production material in the present case, although this is not limited to these containers. Secondary packaging, in particular trays or tubs in which a plurality of containers are accommodated, can also be considered pharmaceutical production material in the present case. Other production materials include, for example, closing elements for closing the containers. Such closing elements can include, for example, plugs, mushroom caps, or crimp caps. It is also conceivable that production material includes items used to process the containers in the system. Conceivable examples include filling needles, hoses, holding elements for containers, or other production material. In general, format parts of the system that have container-specific or container-processing-specific properties can be counted as production material.

[0007] The handling device of the type mentioned above is used for handling pharmaceutical production material, particularly within such a container processing system. The production material is handled with a tool, which can have different designs, particularly depending on the production material. The tool can act on the production material directly or indirectly.

[0008] Mechanical handling devices for production materials are already known. For example, WO 2022 / 136537 A1 describes a handling device in the form of an articulated-arm robot (SCARA) in a container processing system. This handling device has proven itself in practice for the tasks assigned to it. Nevertheless, it would be desirable to provide a handling device that includes advantageous properties for processing the production material.

[0009] The object of the present invention is to provide a handling device that has advantageous properties for processing the production material. Furthermore, it is an object to provide a handling system with such a handling device and a system for processing containers with such a handling system.

[0010] The above object is achieved by a handling device according to the invention for pharmaceutical production material, comprising a support device, a joint device comprising a first joint arm section and a second joint arm section, at least one drive device and a tool for acting directly or indirectly on the production material, wherein the handling device comprises a drive element which is drivable about a first axis of rotation and is connected in a rotationally fixed manner to the first joint arm section, wherein the first joint arm section and the second joint arm section are connected to one another so as to be rotatable relative to one another about a second axis of rotation, wherein the axes of rotation are arranged at a distance from one another, wherein the handling device comprises a guide device with a guide body and a holding body which comprises or forms the tool or on which the tool is held,wherein the second articulated arm section is rotatable relative to the holding body about a third axis of rotation, which is arranged at a distance from the second axis of rotation, and at least one guide element is arranged on the holding body, which cooperates with the guide body.

[0011] In the present invention, the holding body can be driven by the rotationally drivable drive element and moved along the guide body of the guide device. The drive element is rotatably connected to the first articulated arm section, which is rotatably connected to the second articulated arm section, which in turn is rotatably connected to the holding body. The tool for handling the pharmaceutical production material is held on the holding body. Alternatively, the holding body can encompass or form the tool. The design of the handling device allows, for example, a rectilinear movement of the tool to be achieved through a rotational movement of the drive element. Rotation seals for the moving parts ensure a high hygienic standard of the handling device. In particular, translational movements of the drive element and the articulated device can be avoided.This prevents particle entrainment due to translational movements. The handling device is thus advantageously suitable for use in the system for processing pharmaceutical containers within a zone with a high purity class, wherein a drive motor of the drive device can advantageously be arranged in a zone with a lower purity class and a drive force of the drive motor can be transmitted to the drive element across a zone boundary. This will be discussed in more detail below. The use of the articulated device, which forms an articulated arm, allows the conversion of a rotary movement of the drive element to the particularly rectilinear movement of the tool, wherein the articulated arm sections act, as it were, as an eccentric device due to the respective distance between the axes of rotation.

[0012] Advantageously, the support device and the joint device can be given a compact design if the drive force is transmitted by a drive motor arranged externally to the support device, as explained above.

[0013] It is particularly conceivable that a control device is provided for controlling and / or regulating the operation of the handling device.

[0014] It may be advantageous if the handling device on the joint device and / or on the support device is free of a drive motor for an articulated arm section. A drive motor of the drive device is in particular not positioned on the support device and / or the joint device, but rather, for example, accommodated in a zone that is separated by a separating element of the handling system from another zone in which the support device and / or the joint device is positioned, wherein the latter zone has a higher degree of cleanliness than the former zone. By omitting the drive motor on the joint device and / or the support device, installation space and weight can be saved in practice. This enables a more compact design and lower inertia for shorter cycle times with the handling device.

[0015] It can be advantageous if the handling device on the articulated device and / or on the support device is free of a connecting cable for a drive motor on the articulated device and on the support device. In particular, it is advantageous if no such connecting cable (e.g. electrical and / or pneumatic) is routed through the support device and the articulated device. Eliminating the need for connecting cables simplifies the structural design of the handling device. Furthermore, there are no connecting cables that are subject to loads resulting from the rotary movement of the drive element and the articulated arm sections, with such loads occurring particularly at articulated connections. Eliminating the need for connecting cables thus increases the reliability of the handling device.

[0016] Since a lower weight and a more compact installation space can be achieved compared to a conventional handling device, the use of a pharmaceutical-compatible material in the handling device according to the invention does not pose any difficulties.

[0017] In particular, stainless steel grade 316L can be used as a material that meets the requirements for the cleanability of the handling device.

[0018] Alternatively or additionally, a pharmaceutical-grade plastic material can be used, for example, which can keep the weight low, which can prove even more advantageous for short cycle times.

[0019] The guide body can, for example, be designed to extend in a straight line. A downward and upward movement of the tool can occur along the guide body, for example. This allows, for example, the handling device to be used as a closing device for pressing closing elements onto containers or for pressing closing elements into containers. However, the invention is not limited to this. However, it can be particularly advantageous if the tool can move in a straight line.

[0020] Position and orientation information in this case refers to the intended use of the handling device in the system.

[0021] The guide body can be designed, for example, as a rod or bar.

[0022] The guide body can, for example, have a planar guide surface for the at least one guide element. This enables particularly advantageous guide properties.

[0023] The guide body and the at least one guide element can optionally engage with each other. For example, the at least one guide element engages with at least one groove on the guide body, or vice versa.

[0024] The guide body and the at least one guide element are preferably made of a pharmaceutical-grade and abrasion-resistant material. For example, stainless steel is used.

[0025] The at least one guide element is, for example, a roller. The roller can, for example, roll along the planar guide surface. Alternatively, the roller can advantageously comprise a bead along an outer circumference, which can engage in a corresponding groove in the guide body.

[0026] Two or more guide elements can be provided, arranged on opposite sides of the guide body, so that the guide body is positioned between the guide elements. This allows the holding body to be guided particularly reliably.

[0027] It is conceivable for two guide elements to rest on one side of the guide body, with another guide element resting on the guide body on the opposite side, which is arranged between the first-mentioned guide elements with respect to the direction of movement. This ensures that the holding body cannot tilt relative to the guide body and can be guided reliably. It can be advantageous if the guide body and the holding body with the at least one guide element arranged thereon are not enclosed by a housing. This allows the guide body, the holding body and the guide elements to be cleaned directly, for example by rinsing or hosing. In addition, the handling device can be subjected to a VHP cycle in which the aforementioned components are exposed to a decontamination atmosphere (for example H2O2).Preferably, this allows the handling device to comply with the requirements of Good Manufacturing Practice (GMP), Annex 1.

[0028] The articulated arm sections can be of different lengths. For example, it is conceivable for the first articulated arm section to be shorter than the second articulated arm section. In this case, the distance between the first two axes of rotation is smaller than the distance between the second or third axes of rotation.

[0029] Alternatively, it can be provided that the articulated arm sections are of equal length or that the first articulated arm section is shorter than the second articulated arm section.

[0030] The support device can, for example, comprise or form a support device housing in which the drive element is partially arranged, wherein the drive element is guided through at least one through-opening of the support device housing. In this case, the drive element is preferably rotationally sealed relative to the support device housing. The sealing device is or comprises a rotary sealing element, for example, a double wiper.

[0031] Advantageously, the drive element is free from translational movement relative to the support device housing.

[0032] The support device housing can, for example, comprise a first housing part and a second housing part. The first housing part is, for example, plate-shaped and the second housing part hood-shaped. It is conceivable for the support device housing to comprise walls positioned between the two housing parts. For example, opposing end walls are provided. In one of the end walls, for example, the at least one through-opening is formed. The drive element can, for example, be mounted on at least one end wall via a bearing device for rotation about the first axis of rotation. Bearing devices of the handling device according to the invention and preferred embodiments thereof are, for example, rolling bearings or plain bearings, with the person skilled in the art selecting the appropriate bearing depending on the requirements. For rotatable components, a radial bearing is provided in particular. An axial bearing is conceivable as an alternative or in addition.The bearing device can be single-segment or multi-segment. A multi-segment bearing device, for example, comprises two or more bearing elements arranged at a distance from one another, such as bearing rings.

[0033] As mentioned, the support device is advantageously free of a drive motor. In order to transmit a drive force to the drive element, a coupling element can be provided, for example. The handling device can comprise such a coupling element assigned to the drive element, which can be driven by the at least one drive device, wherein the coupling element engages in the support device housing and is coupled therein to the drive element. Due to the coupling element, a drive motor can be arranged, in particular, outside the support device housing. The coupling element transmits, for example, a drive force of the drive motor, which is arranged in a substructure of the handling system, within a zone that is separated from the zone in which the support device is arranged by a separating element.In the latter zone, for example, a higher purity class exists than in the former. This arrangement of the drive motor allows, for example, a larger and therefore more resilient drive motor, which is not possible if the drive motor is positioned in the support device due to space and weight constraints. This increases the reliability of the handling device.

[0034] The coupling element is preferably drivable in rotation, wherein in particular a bearing device is provided for the rotational movement.

[0035] The coupling element can be coupled to the drive element, for example, via a toothed system. For a compact design, meshing bevel gears, for example, prove advantageous.

[0036] As already mentioned, the production material can, for example, be closure elements for containers. For handling the closure elements, the tool can, for example, comprise at least one pusher element for acting on a closure element, which is intended in particular for closing a pharmaceutical container. The pusher element is, for example, a plunger, via which a closure element is pressed from a receptacle onto or into the container.

[0037] The tool can be designed with multiple stations to enable simultaneous processing of multiple closure elements and containers. Accordingly, the tool can comprise a plurality of pusher elements. The pusher elements are preferably identically designed.

[0038] It may prove advantageous if, in a preferred embodiment of the invention, components of the handling device are present in multiples, particularly in duplicate. Multiple components can advantageously be identical or functionally identical, for example, symmetrical relative to one another.

[0039] For example, the guide device comprises two guide bodies.

[0040] For example, two support devices are provided.

[0041] For example, two articulated devices with two articulated arm sections are provided.

[0042] For example, two holding bodies and guide elements arranged on each of them are provided.

[0043] For example, two drive elements are provided.

[0044] Advantageously, the tool is held on the two holding bodies, or both holding bodies enclose or form the tool.

[0045] The handling device may comprise two coupling elements which are coupled to a respective drive element.

[0046] The guide devices, the support devices, the joint devices, the holding bodies, and the drive elements are each positioned at a distance from one another. The tool can thus be driven, for example, from two opposite sides and is arranged, in particular, between the two holding bodies.

[0047] It may be advantageous if the at least one drive device comprises a drive motor for driving the two drive elements, in particular indirectly via two coupling elements. For example, the drive device comprises a motor that is rotationally coupled to both coupling elements. This allows for a simple design to achieve mechanical synchronization between the coupling elements and thus the drive elements. In practice, this enables a structurally simple design of the handling device while simultaneously ensuring reliably guided movement of the tool.

[0048] Alternatively, the drive device can comprise two separate drive motors assigned to a respective coupling element, wherein the drive motors are preferably synchronized with each other. This allows, for example, electronic synchronization of the drive motors. The use of two drive motors increases the versatility of the handling device according to the invention.

[0049] The object mentioned at the outset is further achieved by a handling system according to the invention for pharmaceutical production material, comprising a frame which can be set up on a setting-up surface and which comprises a separating element, in particular a plate-shaped one, which separates a first zone from a second zone, wherein the first zone has a higher purity class than the second zone, a handling device of the type described above, wherein the support device and the joint device are arranged in the first zone, wherein the at least one drive device is arranged in the second zone, wherein at least one coupling element of the handling device is guided through at least one through-opening of the separating element.

[0050] The advantages already mentioned in connection with the handling device according to the invention can also be achieved with the handling system. Reference is made to the above explanations.

[0051] Advantageous embodiments of the handling system according to the invention result from advantageous embodiments of the handling device according to the invention. Reference is also made to the above explanations in this regard.

[0052] In the handling system according to the invention, it is advantageous that the drive device, in particular a drive motor, is arranged in the second zone. The drive force is transmitted via the coupling element through the separating element into the region of the first zone in order to drive the corresponding drive element there. Advantageously, the support device and / or the joint device are free of a drive motor and / or connecting lines therefor, as explained above. The first zone can be a clean room, for example, class A, B, C, or D. The separating element can be covered by a machine guard with appropriate walls and / or by an isolator device.

[0053] The dividing element can, for example, be a table top of the frame.

[0054] The handling system can, for example, comprise a support device, particularly a columnar one, in which the at least one coupling element is arranged and which extends through or engages the through-opening or rests against the edge of the through-opening in the first zone. The support device forms, for example, a housing or enclosure for the at least one coupling element.

[0055] Preferably, the handling system comprises a sealing device for sealing the passage opening between the first zone and the second zone.

[0056] The at least one coupling element or the support device is, for example, free from any linear movement, in particular a lifting movement, through the passage opening. This prevents the transfer of germs from the second zone to the first zone and thus increases the hygienic standard of the handling system.

[0057] The handling device and handling system preferably utilize only rotary movements and corresponding rotary seals. Translational movements, such as lifting movements, are preferably not present during operation, in order to avoid particle entrainment resulting from translational movements.

[0058] It may be provided that translational movements are possible, for example only for setup work before the actual operation, but not during operation.

[0059] In a preferred embodiment of the invention, the handling system advantageously comprises at least one transport track for closing elements and a holding element for containers to be closed. Depending on the container in question, the holding element can be, for example, a setting-up element for stable containers or a gripping element for non-stable containers. In particular in the last-mentioned advantageous embodiment, the tool can be moved from a basic position, in particular in a straight line, into a pressing position and vice versa, wherein the pushing elements are at a greater distance from the closing elements in the basic position than in the pressing position, and wherein the closing elements can be subjected to a force directed towards the containers in the pressing position. The force can be used to press the closing elements, for example, out of a receptacle onto the containers or into the containers.

[0060] A system according to the invention for processing pharmaceutical containers comprises a handling system of the type described above, wherein the handling system comprises or forms a closing station for the containers, and wherein at least one further processing station is provided for the containers, for example, a filling station. For example, closing elements are supplied to the containers filled with a product, and the closing elements are placed or inserted onto or into the containers by means of push elements.

[0061] The system according to the invention then exhibits the advantages and effects mentioned in connection with the handling device and the handling system. Advantageous embodiments of the system result from advantageous embodiments of the handling device and the handling system.

[0062] The following description of preferred embodiments of the invention, taken in conjunction with the drawings, serves to explain the invention in more detail. They show:

[0063] Figure 1: a system according to the invention for processing pharmaceutical containers in a preferred embodiment, comprising a handling system according to the invention with a handling device according to the invention, each in a preferred embodiment;

[0064] Figure 2: a schematic representation of the handling system of the plant from Figure 1;

[0065] Figure 3: a perspective partial view of the handling device and a feeding device of the handling system from Figure 1;

[0066] Figure 4: an enlarged perspective view of the handling device according to detail A in Figure 3; Figure 5: a partial view of the detail from Figure 4 in a different perspective;

[0067] Figure 6: a side view of the feeding device, with its tool in a receiving position for closing elements;

[0068] Figure 7: the feeding device from Figure 6, wherein the tool is in a transfer position and a pushing element of the handling device assumes a home position; and

[0069] Figure 8: a representation corresponding to Figure 7, wherein the thrust element assumes a pressing position.

[0070] Figure 1 shows a schematic representation of an advantageous embodiment of the system according to the invention for processing pharmaceutical containers, designated overall by reference numeral 100. Examples of containers 102 in this case are vials 104, which are shown in Figures 7 and 8. However, the invention is not limited to this type of container 102.

[0071] The system 100 allows the containers 102 to be processed at a plurality of processing stations 106. The processing stations 106 include, for example, at least one weighing station 108 for tare weighing and gross weighing of the containers in an unfilled or filled state, a filling station 110 for filling the containers 102 with a product, and a closing station 112. At the closing station 112, the containers can be closed using closing elements 114.

[0072] The closure elements 114 are shown here in Figures 3 and 6 to 8. The closure elements 114 are part of pharmaceutical production material 116. Given the above, it is understood that the present invention is not limited to closure elements 114 as production material 116.

[0073] The system 100 comprises the handling system 118 according to the invention in a preferred embodiment, which in turn comprises the handling device 120 according to the invention in a preferred embodiment. The handling device 120 is designed here as a closing device 122 for pressing the closing elements 114 onto the containers 102. Furthermore, the handling device 120 comprises a storage device 124 for storing the closing elements 114 and a feed device 126 with which the closing elements 114 can be fed to the closing device 122. As can be seen, for example, from Figure 2, the handling system 118 comprises a frame 128 that can be positioned on a support surface 130 of a room, for example, a laboratory. The frame 128 comprises a separating element 132, which is plate-shaped in the present case and can in particular form a support element for processing stations 106.The separating element 132 can in particular be a table top of the frame 128.

[0074] The separating element 132 separates a first zone 134 from a second zone 136. The cleanliness class of the first zone 134 is higher than the cleanliness class of the second zone 136. In particular, the first zone 134 is part of a cleanroom, for example, cleanliness class A, B, C, or D. The second zone 136 is arranged below the separating element 132 and thus in the substructure 138 of the handling system 118, simultaneously a substructure 138 of the system 100.

[0075] The first zone 134 is preferably covered by a machine guard or an isolator device 140, with which the cleanliness class can be ensured.

[0076] Within the first zone 134, the containers 102 can be transported along the processing stations 106 by means of a transport system 142. In the present case, the vials 104 are stable containers 102, so that the transport system 142 includes a support element 144 (Figures 7 and 8). The support element 144 is formed, for example, by a conveyor belt, although the present invention is not limited thereto.

[0077] In the present embodiment, the containers in the handling system 118 can be positioned on the support element 144, regardless of their size, such that the container axes 146 are spatially fixed. For processing on the handling system 118, the containers 102 also have defined positions along the transport system 142.

[0078] A control device 148 is provided for controlling and / or regulating the operation of the system 100. The control device 148 can simultaneously be a control device for the handling system 118 and the handling device 120. It is advantageously operatively connected to all controllable components of the system 100.

[0079] As can be seen in particular from Figures 2 to 5, the handling device 120 in the present case comprises a support device 150, a joint device 152, a guide device 154, a carrying device 156, a drive device 158 and a holding body 160. As can be seen, for example, from Figures 2 and 3, the handling system 118 in the present case comprises two support devices 150, two joint devices 152, two guide devices 154, two carrying devices 156 and two holding bodies 160. The duplicate components are designed to be mirror-symmetrical relative to one another with respect to a center plane 162 of the handling system 118. The aforementioned components have the same function. For this reason, only one of the functionally identical components will be discussed below. The relevant explanations also apply to the other components.

[0080] The drive device 158 is present only once in this case. It comprises a drive motor 164. The drive motor 164 is, for example, a servo motor or a stepper motor and is arranged in the second zone 136 and thus in the substructure 138.

[0081] The drive motor 164 is held, for example, at the bottom of the separating element 132 or otherwise on the frame 128.

[0082] In the present case, two through-openings 166 are formed in the separating element 132 (Figure 2). A coupling element 168 is guided through each through-opening. The coupling elements 168 are also designed symmetrically to one another with respect to the center plane 162. The joint device 152 can be driven via the drive motor 164 to move the holding body 160 along the guide device 154. For this purpose, the handling system 118 comprises a transmission device 170, which is configured here as a belt transmission with a drive belt 172. The drive belt 172 is driven by the drive motor 164 and is in rotationally fixed engagement with a drive member 174 on the coupling element 168. The drive belt 172 is, for example, a toothed belt.

[0083] In this case, both coupling elements 168 can be driven synchronously to move both holding bodies 160 reliably guided along the guide devices 154. This enables a structurally simple design of the handling system 118, since separate drive motors 164 for the coupling elements 168 can be eliminated.

[0084] In contrast, no drive motors are arranged on or in the support device 150 or on or in the joint device 152. Furthermore, no connecting lines, such as electrical lines and / or pneumatic lines, are arranged in the support device 150 or in the joint device 152, and in particular, they do not pass through these devices 150, 152.

[0085] Overall, this results in a compact design of the handling device 120 while maintaining a relatively low mass compared to conventional handling devices. This makes it possible to increase the work rate achievable with the handling device due to its compact design and low mass. At the same time, it is possible to use the handling device 120 in areas of the system 100 where limited installation space is available.

[0086] In the present embodiment, the support device 150 forms a base for the joint device 152, which in turn forms an articulated arm 176. In the present example, the support device 150 is placed on top of the support device 156, which is designed in a columnar manner (Figures 2 and 3).

[0087] In another embodiment, the support device 150 could, for example, be arranged directly on the separating element 132.

[0088] The support device 156 forms a housing 178 for the coupling element 168 and encloses it in a circumferential direction.

[0089] In the present case, the support device 156 rests against an edge 180 of the through-opening 166. Alternatively, it could be provided, for example, that the support device 156 engages into the through-opening 166 or extends through it.

[0090] It may be advantageous if a sealing device 182 is present between the first zone 134 and the second zone 136. For example, the sealing device 182 seals between the support device 156 and the edge 180 of the through-opening 166. The sealing device 182 is shown schematically in Figure 2.

[0091] As can be seen particularly in Figures 3 to 5, the support device 150 in the present embodiment comprises a support device housing 184 (hereinafter: housing 184), which is shown open in Figures 4 and 5. The housing 184 is fixed at the top to the support device 156.

[0092] In the present example, the housing 184 comprises a plate-shaped housing part 186, which forms a bottom of the housing 184, and a further housing part 188, which in the present example is hood-shaped. The housing part 188 overlaps the housing part 186 (Figure 3) and encloses with it a receiving space 190 (shown open in Figures 4 and 5).

[0093] Furthermore, the housing 184 includes end walls 192, 194 at opposite ends.

[0094] A sealing device 196 seals the housing 184, in this case between the end walls 192, 194 and the housing part 188. The housing 184 is thus sealed in a particularly pharmaceutically acceptable manner, allowing the housing 184 to be hosed down or rinsed for cleaning. The housing 184 can be subjected to a VHP cycle, particularly with H2O2.

[0095] The coupling element 168 extends through the housing part 186 into the receiving space 190. In this case, the coupling element 168 is rotatable about a rotation axis 198. There is a rotatable mounting on the support device 154.

[0096] It can be particularly advantageous if there is no translational movement of the coupling element 168. The drive force of the drive motor 164 is transmitted to the holding body 160 solely via rotational movements. By avoiding translational movements, particularly between the first zone 134 and the second zone 136, the risk of particle entrainment is reduced, thus ensuring a high hygienic standard of the handling device 120.

[0097] Such a configuration of the support device 156 and the coupling element 168 is shown schematically in Figure 2.

[0098] In a different embodiment, it may be possible within the scope of the present invention for a translational movement of the coupling element 168 to be conceivable. For this purpose, a support body 200 can be displaceable relative to the support device 156, within which the coupling element 168 is rotatable about the rotation axis 198 (Figures 3 to 5). A sealing device 202 acts between the support body 200 and the support device 156 to seal off the axial movement of the support body 200.

[0099] However, it can be provided, in particular, that such a translational movement is not performed during operation of the system 100, but only during preparatory measures, for example, during maintenance and / or setup work. This is conceivable, for example, during a format change.

[0100] During operation of the system 100, the support body 200 is preferably immobile relative to the support device 156 to prevent the entrainment of particles, particularly dirt particles, into the first zone 134. Only the rotationally driven coupling element 168 is used to drive the movement of the support body 160 during operation. The rotational movement is sealed by the sealing device 202. This significantly improves the hygienic properties.

[0101] Figure 3 schematically shows a drive unit 204 for the support body 200. The drive unit 204 can, for example, be or include a spindle drive. Preferably, both support bodies 200 on the two sides of the handling system 118 can be driven jointly by means of a single drive unit 204.

[0102] In this case, the articulated arm 176 comprises a first articulated arm portion 206, which is rotatable relative to the support device 150, and a second articulated arm portion 208, which is rotatable relative to the first articulated arm portion 206. The second articulated arm portion 208 is rotatable relative to the holding body 160.

[0103] The first articulated arm section 206 is here shorter than the second articulated arm section 208. The length ratio is approximately 1:2 to 1:3.

[0104] For rotating the articulated arm section 206, the handling device 120 comprises a drive element 210 on the respective support device 150. In the present case, the respective drive element 210 is configured as a shaft that is partially arranged in the receiving space 190 and extends through a through-opening 212 of the housing 184. For this purpose, the through-opening 212 is formed in the end wall 192.

[0105] It is understood that the drive elements 210 are designed symmetrically relative to one another and are functionally identical.

[0106] Bearing devices 214, 216 allow the drive element 210 to be rotatably mounted about a (first) rotational axis 218. The bearing devices 214, 216 are arranged on the end walls 192, 194. The drive element 210 is sealed relative to the end wall 192 of the housing 184 via a sealing device 220. The sealing device 220 serves for rotational sealing with a rotary sealing element, for example, a double wiper.

[0107] The drive element 210 is coupled to the coupling element 168 via meshing bevel gears 222 on the coupling element 168 and 224 on the drive element 210. Rotation of the coupling element 168 rotates the drive element about the rotation axis 218, which is oriented perpendicular to the rotation axis 198.

[0108] The drive element 210 is rotationally coupled to the first articulated arm section 206 forming an eccentric.

[0109] Furthermore, a force transmission element 226 arranged at a distance from the drive element 210 is rotationally coupled to the first articulated arm section 206. This defines a (second) rotation axis 228, which is arranged at a distance from the first rotation axis 218 and aligned parallel to it.

[0110] The force transmission element 226 is rotatably mounted on the second articulated arm section 208. For this purpose, a bearing device is arranged in a receiving opening 230 of the articulated arm section 208. A sealing device 234 seals between the force transmission element 226 and the articulated arm section 208, in this case in the form of a rotary seal with a rotary sealing element, for example, a double wiper.

[0111] The receiving opening 230 is in the present case a through opening which is closed on the side facing away from the articulated arm section 206 by a cover element 236.

[0112] In the present example, the second articulated arm section 208 includes a further receiving opening 238, designed as a through-opening. A force transmission element 240, which in this case is designed as a shaft 242, engages in the receiving opening 238. The shaft 242 is guided in a rotationally fixed manner through a through-opening 244 of the holding body 160.

[0113] In the articulated arm section 208, the shaft 242 is rotatably mounted via a bearing device 246. A sealing device 248 seals the rotational movement and is designed as a rotary sealing element, for example, a double wiper (Figure 3). On the side facing away from the holding body 160, the receiving opening 238 is closed by a cover element 250. The (third) axis of rotation 252 defined by the shaft 242 is arranged at a distance from the axes of rotation 218 and 228 and aligned parallel to them.

[0114] In the present example, the holding body 160 is plate-shaped. One plane of the holding body 160 is oriented transversely and, in particular, perpendicularly to the rotation axes 218, 228, and 252.

[0115] The guide device 154 comprises a guide body 254. In the present case, the guide body 254 is column-shaped and oriented transversely and in particular perpendicularly to a plane of the separating element 132. For example, the guide body 254 is fixed to the separating element 132.

[0116] A strip-shaped guide section 256 is formed on the guide body 254. In this case, the guide section 256 has at least one planar guide surface 258 extending along the direction of movement of the holding body 160. In this case, two guide surfaces 258 are arranged on opposite sides of the guide section 256.

[0117] According to the invention, at least one guide element 260 is arranged to guide the holding body 160 on the guide body 254. In the present case, there are a plurality of guide elements 260, for example, three, although the invention is not limited thereto.

[0118] The guide elements 260 are designed as rollers 262. A first roller 262 is rotatably mounted on the shaft 242. For this purpose, the roller 262 has a bearing device. Furthermore, a sealing element provides a rotational seal relative to the shaft 242.

[0119] While the roller 262 held on the shaft 242 is arranged on one side of the guide section 256, the two other rollers 262 are arranged on the opposite side of the guide section 256, facing away from the roller 262. These two rollers 262 are spaced apart from one another along the direction of movement of the holding body 160, which is defined by the direction of extension of the guide body 254. The first-mentioned roller on the shaft 242 is arranged on the opposite side along the direction of movement between the two rollers 262 (Figure 4). The last two rollers are rotatably mounted on fixing elements 264, which are rotatably held on the holding body 160. Furthermore, a respective sealing device is provided with respect to the fixing element 264 by means of a rotary sealing element.

[0120] Rolling surfaces 266 are arranged on the rollers 262 in the circumferential direction, over which the rollers 262 roll on the respective guide surface 258, which is formed on the guide section 256 and faces the respective roller 262. This provides a particularly reliable guide for the holding body 160.

[0121] The holding body 160, the rollers 262, and the guide body 254 are free of any enclosure. This allows these components to be cleaned during cleaning of the handling device 120, for example, by rinsing or hosing. Furthermore, the components can be subjected to a VHP cycle for decontamination, for example, using H2O2.

[0122] In order to avoid abrasion on the guide body 254 and on the rollers 262 during operation of the handling device, the rollers 262, at least in the region of the rolling surfaces 266, and the guide body 254, at least in the region of the guide section 256, are made of an abrasion-resistant and preferably pharmaceutical-compatible material, in particular of stainless steel.

[0123] Upon rotation of the coupling element 168, the drive element 210 rotates about the rotation axis 218. The same applies to the eccentric formed by the first articulated arm section 206. This, in turn, rotates relative to the second articulated arm section 208 about the second rotation axis 228. The second articulated arm section 208 rotates relative to the holding body 160 about the third rotation axis 252.

[0124] This causes the holding body 160 to move, with the movement occurring along the guide body 254. This is a linear movement. In the present example, it is specifically an up-and-down movement.

[0125] Such a movement is carried out by both holding bodies 160, wherein the movements are synchronized with each other via the gear device.

[0126] For handling the closing elements 114, the handling device 120 comprises a tool 268. The tool 268 in the present case has a support part 270 which is preferably releasably attached to both holding bodies 160 and connects the two holding bodies 160 to one another.

[0127] Furthermore, the tool 268 has a holding part 272, which is preferably releasably secured to the support part 270. At least one push element 274 for a closing element 114 is held on the holding part 272. The push element 274 is designed as a plunger.

[0128] In the present case, several push elements 274 are provided, which are secured, in particular, equidistant from one another on the holding part 272. The holding part 272, together with the push elements 274, can be designed as a container-specific format part. Alternatively, for example, only the push elements 274 can be format parts that are releasably secured to the holding part 272.

[0129] By means of the drive motor 164, the thrust elements 274 can be moved translationally by the guided holding bodies 160. In particular, it is possible to lower and raise the thrust elements 274. The range of motion of the thrust elements 274 is defined by the design of the joint device 152 and its points of engagement on the support device 150 and on the holding body 160.

[0130] If the support device 150 can be moved via the support bodies 200 relative to the support device 156 via the drive unit 204, the height relative to which the thrust elements 274 can be lowered and raised can be adjusted.

[0131] During operation of the handling system 118, closing elements 114 are supplied by the storage device 124, which may, in particular, have feed tracks 276 for this purpose (Figure 6). Upstream of the feed tracks 276, the storage device 124 comprises, for example, a container for closing elements 114, for example in the form of a conveyor pot.

[0132] The number of feed tracks 276 preferably corresponds to the number of push elements 274 and the number of receptacles 278 of a receptacle body 280 of the feed device 126.

[0133] The closing elements 114 are conveyed from the feed tracks 276 into the receptacles 278 (Figure 6, not shown in detail). The feed device 126 moves the receptacle body 280 from the receiving position shown in Figure 6 into a transfer position shown in Figures 7 and 8.

[0134] In the transfer position, the closing elements 114 are positioned above containers 102, which are positioned on the support elements 144. The closing elements 114 are aligned relative to the containers 102.

[0135] During this transport of the closing elements 114, the pusher elements 274 assume a basic position (Figure 7) in which they are arranged above the closing elements 114. Subsequently, the pusher elements 274 are moved toward the closing elements 114 into a pressing position (Figure 8) in order to apply a force to the closing elements 114 in the direction of the containers 102.

[0136] The guided movement of the push elements 274 occurs along the container axes 146, which are aligned parallel to the extension of the guide body 254. The push elements 274 push the closing elements 114 out of the receptacles 278 onto the containers 102 to close them.

[0137] A sensor device 282 may be provided (Figure 2), which may be coupled to the control device 148 and via which the proper functioning of the handling device 118 can be monitored. In the event of a malfunction, the handling device 118 can be deactivated.

[0138] The sensor device 282 is, for example, optically designed and in this case comprises a light barrier (e.g. with laser light) with a transmitting and receiving element 284 and a mirror 286. The transmitting and receiving element 284 is, for example, fixed to the frame 128 and the mirror 286 to the holding body 160 or to the supporting part 270. The reference numeral 288 symbolizes the light path.

[0139] A mechanical overload protection device is provided for each of the push elements 274, which in this case is arranged in the holding part 272. In the event of an overload due to the pressing force, the corresponding push element 274 disengages. This can be detected by the sensor device 282 by interrupting the light path 288. List of Reference Symbols

[0140] Plant Container Vial Processing station Weighing station Filling station Closing station Closing element Production material Handling system Handling device Closing device Storage device Feeding device Rack

[0141] Installation area Separating element First zone Second zone Substructure Machine protection Transport system Installation element Container axis Control device Support device Articulated device Guiding device Carrying device

[0142] Drive device Holding body Center plane Drive motor Through opening Coupling element Gear device Drive belt Drive link Articulated arm Housing Edge

[0143] Sealing device

[0144] Support device housing, 188 housing part

[0145] Recording room, 194 end wall

[0146] Sealing device, rotation axis, support body, sealing device, drive unit, first articulated arm section, second articulated arm section, drive element, through hole, 216, bearing device, first rotation axis, sealing device, 224, bevel gear

[0147] Power transmission element second rotation axis receiving opening bearing device sealing device cover element receiving opening power transmission element shaft

[0148] Through opening bearing device sealing device cover element third axis of rotation

[0149] Guide body

[0150] Guide section

[0151] Guide surface

[0152] Guide element

[0153] role

[0154] Fixing element

[0155] Rolling surface

[0156] Tool

[0157] supporting part

[0158] Holding part

[0159] Shear element

[0160] Feed track

[0161] Recording

[0162] Receiving body

[0163] Sensor device

[0164] Transmitting and receiving element Mirror Light path

Claims

PATENT CLAIMS 1. A handling device (120) for pharmaceutical production material (116), comprising a support device (150), a joint device (152) comprising a first joint arm section (206) and a second joint arm section (208), at least one drive device (158), and a tool (268) for acting directly or indirectly on the production material (116), wherein the handling device (120) comprises a drive element (210) which is drivable about a first axis of rotation (218) and is connected in a rotationally fixed manner to the first joint arm section (206), wherein the first joint arm section (206) and the second joint arm section (208) are connected to one another so as to be rotatable relative to one another about a second axis of rotation (228), wherein the axes of rotation (218, 228) are arranged at a distance from one another, wherein the handling device (120) comprises a guide device (154) with a guide body (254) and a holding body (160),which comprises or forms the tool (268) or on which the tool (268) is held, wherein the second articulated arm section (208) is rotatable relative to the holding body (160) about a third axis of rotation (252) arranged at a distance from the second axis of rotation (228), and at least one guide element (260) is arranged on the holding body (160) which cooperates with the guide body (254).

2. Handling device (120) according to claim 1, characterized in that the handling device (120) at the joint device (152) and / or at the support device (150) is free of a drive motor for an articulated arm section (206, 208) and / or that the handling device (120) at the joint device (152) and / or at the support device (150) is free of a connecting line for a drive motor at the joint device (152) and at the support device (150).

3. Handling device (120) according to claim 1 or 2, characterized in that the guide body (254) is designed to extend in a straight line, in particular as a rod or strip.

4. Handling device (120) according to one of the preceding claims, characterized in that the guide body (254) has a planar guide surface (258) for the at least one guide element (260).

5. Handling device (120) according to one of the preceding claims, characterized in that at least one of the following applies: the at least one guide element (260) is a roller (262), preferably made of a metal material, in particular of stainless steel; two or more guide elements (260) are provided, wherein two guide elements (260) are arranged on opposite sides of the guide body (254).

6. Handling device (120) according to one of the preceding claims, characterized in that the guide body (254) and the holding body (160) with the at least one guide element (260) arranged thereon are free from enclosure by a housing.

7. Handling device (120) according to one of the preceding claims, characterized in that the articulated arm sections (206, 208) are of different lengths, in particular that the first articulated arm section (206) is shorter than the second articulated arm section (208).

8. Handling device (120) according to one of the preceding claims, characterized in that the support device (150) comprises or forms a support device housing (184) in which the drive element (210) is partially arranged, wherein the drive element (210) is guided through at least one through-opening (166, 212, 244) of the support device housing (184), preferably that the drive element (210) is rotationally sealed relative to the support device housing (184).

9. Handling device (120) according to claim 8, characterized in that the handling device (120) comprises a coupling element (168) associated with the drive element (210) which can be driven by the at least one drive device (158), wherein the coupling element (168) engages in the support device housing (184) and is coupled therein to the drive element (210).

10. Handling device (120) according to one of the preceding claims, characterized in that the coupling element (168) is coupled to the drive element (210) via a toothing, in particular via meshing bevel gears (222, 224).

11. Handling device (120) according to one of the preceding claims, characterized in that the tool (268) comprises at least one pushing element (274) for acting on a closing element (114), in particular for closing a pharmaceutical container (102).

12. Handling device (120) according to claim 11, characterized in that the tool (268) is designed in several positions and in particular comprises a plurality of pushing elements (274).

13. Handling device (120) according to one of the preceding claims, characterized in that the guide device (154) comprises two guide bodies (254), that two support devices (150) are provided, that two drive elements (210) are provided, that two joint devices (152) each with two joint arm sections (206, 208) are provided, and that two holding bodies (160) and guide elements (260) arranged thereon are provided, wherein the tool (268) is held on both holding bodies (160) or both holding bodies (160) comprise or form the tool (268), in particular that the handling device (120) comprises two coupling elements (168) which are coupled to a respective drive element (210).

14. Handling device (120) according to claim 13, characterized in that the at least one drive device (158) comprises a drive motor (164) for driving the two drive elements (210), in particular indirectly via two Coupling elements (168), wherein the drive device (158) preferably comprises or forms a drive belt which is rotationally coupled to both coupling elements (168).

15. Handling device (120) according to claim 13, characterized in that the at least one drive device (158) comprises two separate drive motors (164) which are assigned to a respective coupling element (168), wherein the drive motors (164) are preferably synchronized with one another.

16. A handling system (118) for pharmaceutical production material (116), comprising a frame (128) which can be set up on a support surface (130) and which comprises a separating element (132), in particular a plate-shaped separating element, which separates a first zone (134) from a second zone (136), wherein the first zone (134) has a higher purity class than the second zone (136), a handling device (120) according to one of the preceding claims, wherein the support device (150) and the joint device (152) are arranged in the first zone (134), wherein the at least one drive device (158) is arranged in the second zone (136), wherein at least one coupling element (168) of the handling device (120) is guided through at least one through-opening (166, 212, 244) of the separating element (132).

17. Handling system (118) according to claim 16, characterized in that the handling system (118) comprises a particularly columnar support device (156) in which the at least one coupling element (168) is arranged and which extends through the through-opening (166, 212, 244) or engages therein or rests in the first zone (134) on the edge (180) of the through-opening (166, 212, 244), and preferably a sealing device (182, 196, 202, 220, 234, 248) for sealing the through-opening (166, 212, 244) between the first zone (134) and the second zone (136).

18. Handling system (118) according to claim 17, characterized in that the at least one coupling element (168) or the carrying device (156) is free from a rectilinear movement, in particular a lifting movement, through the through opening (166, 212, 244).

19. Handling system (118) according to one of claims 16 to 18, characterized in that the handling system (118) comprises at least one transport track for closing elements (114) and a holding element for containers (102) to be closed, wherein the tool (268) is movable from a basic position, in particular in a straight line, into a pressing position and vice versa, wherein the pushing elements (274) in the basic position have a greater distance from the closing elements (114) than in the pressing position, and wherein the closing elements (114) in the pressing position can be acted upon by a force pointing in the direction of the containers (102).

20. Plant (100) for processing pharmaceutical containers (102), comprising a handling system (118) according to one of claims 16 to 19, wherein the handling system (118) comprises or forms a closing station (112) for the containers (102), and wherein at least one further processing station (106) is provided for the containers (102), for example a filling station (110).

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